JP2015101225A - Vehicle control apparatus - Google Patents

Abstract

PROBLEM TO BE SOLVED: To facilitate a vehicle to move using external force to a position allowing embarking even with a decreased battery residual amount in the case of the vehicle being parked in the state of being difficult to embark.SOLUTION: A control apparatus includes: a shift position transition control unit 16 for performing shift position transition control to transition a shift position of a transmission; an electric parking brake control unit 15 for performing electric parking brake control; a parking control unit 20 for performing parking-control in which a vehicle is parked in a parking zone through an automatic operation by a remote control from outside the vehicle, a shift position of the transmission is changed to parking and an electric parking brake is operated; an obstacle detection unit 6 for detecting a width of an embarking-disembarking zone in the parking zone where the vehicle is parked; and a battery residual amount monitor unit 8 for monitoring a battery residual amount. Further, in the case of the width of the embarking-disembarking zone being equal to or less than a given threshold, with the battery residual amount equal to or less than a given threshold, the parking control unit 20 performs control for causing the shift position transition control unit 16 to change the shift position of the transmission to neutral.

Description

  The present invention relates to a vehicle control device that performs parking control by automatic driving of a vehicle by remote operation from the outside of the vehicle.

  Conventionally, as a technique for performing parking control of a vehicle, there is one described in Patent Document 1. The technique described in Patent Literature 1 stops the vehicle near the parking area of the parking lot, and then causes the occupant who got off to automatically drive the vehicle by performing a remote operation using a mobile terminal from the outside of the vehicle. The vehicle is parked in the parking area.

International Publication No. 2001/132308 JP 2011-218863 A

  In such a conventional technique, the vehicle can be parked in a parking area where there is no space for opening any door of the vehicle. However, when the vehicle is parked in a state where there is no space to open any of the doors of the vehicle, the remaining battery level may decrease and the engine may not be able to start. In such a case, since the door cannot be opened, vehicle shift change, release of the parking brake, opening / closing operation of the hood, etc. cannot be performed.

  Therefore, the present invention provides a vehicle control device that can easily move a vehicle to a position where the vehicle can be boarded by an external force even when the remaining battery level is low when the vehicle is parked in a state where it is difficult to get on. Objective.

  A vehicle control device according to the present invention includes a shift position transition control unit that performs shift position transition control that shifts a shift position of a transmission, an electric parking brake control unit that performs drive control of an electric parking brake, and an exterior of the vehicle. The vehicle is parked with a parking control unit that performs parking control to park the vehicle in a parking area by automatic operation, shift the shift position of the transmission to parking, and operate the electric parking brake by remote control from A boarding / alighting area detecting unit for detecting the width of the boarding / alighting area in the parking area, and a battery remaining amount monitoring unit for monitoring the remaining battery level, wherein the width of the boarding / alighting area is equal to or smaller than a predetermined threshold value and the remaining battery level is equal to or smaller than the predetermined threshold value. In this case, the parking control unit causes the shift position transition control unit to shift the shift position of the transmission to neutral.

  When the width of the boarding / alighting area is equal to or smaller than the predetermined threshold value and the remaining battery level is equal to or smaller than the predetermined threshold value, the parking control unit may further reduce the braking force of the electric parking brake by the electric parking brake control unit.

  According to the present invention, even when the vehicle is parked in a state where it is difficult to get on the vehicle, even if the remaining amount of the battery is reduced, the vehicle can be easily moved to a position where the vehicle can be boarded by an external force.

It is a figure which shows the block configuration of the vehicle control apparatus which concerns on this embodiment. It is a figure for demonstrating parking control. It is a figure which shows the relationship between battery remaining amount, a shift position, and parking brake force. It is a flowchart which shows the processing operation of the vehicle control apparatus which concerns on 1st Embodiment. It is a flowchart which shows the processing operation of the vehicle control apparatus which concerns on 2nd Embodiment. It is a flowchart which shows the processing operation of the vehicle control apparatus which concerns on 3rd Embodiment.

  Hereinafter, a vehicle control apparatus according to the present embodiment will be described with reference to the drawings. In addition, the same code | symbol is attached | subjected about the element which is the same or it corresponds in each figure, and the overlapping description is abbreviate | omitted.

  The vehicle control device according to the present embodiment is a vehicle control device that performs parking control by automatic driving of a vehicle by a remote operation from the outside of the vehicle. In the following description, a vehicle equipped with a vehicle control device is also referred to as a host vehicle. FIG. 1 is a diagram illustrating a block configuration of a vehicle control device according to the present embodiment. As shown in FIG. 1, the vehicle control apparatus 1 according to the present embodiment includes a gradient sensor 2, a periphery recognition sensor 3, a battery remaining amount sensor 4, a switch 5, an obstacle detection unit 6, and a remote control receiver. 7, a battery remaining amount monitoring unit 8, a steering control unit 12, a fuel injection control unit 13, a braking control unit 14, an electric parking brake control unit 15, a shift position transition control unit 16, and a parking control unit 20.

  The gradient sensor 2 is a sensor that detects the gradient of the vehicle stop position as gradient information by detecting the inclination of the vehicle. As the gradient sensor 2, a known gradient meter or the like can be used. Then, the gradient sensor 2 transmits the detected gradient information to the obstacle detection unit 6.

  The surrounding recognition sensor 3 is a sensor that detects information that exists around the host vehicle and can be an obstacle as surrounding information. As the peripheral recognition sensor 3, a radar sensor, an ultrasonic sensor, or the like can be used. As peripheral information, an output signal from a radar sensor, an ultrasonic sensor, or the like can be used. Then, the periphery recognition sensor 3 transmits the detected periphery information to the obstacle detection unit 6.

  The battery remaining amount sensor 4 is a sensor that detects the battery remaining amount by detecting the voltage of the battery of the vehicle. As the battery remaining amount sensor 4, for example, a voltmeter can be used. Then, the battery remaining amount sensor 4 transmits information on the detected battery remaining amount to the battery remaining amount monitoring unit 8.

  The switch 5 is a switch for causing the vehicle control device 1 to perform parking control. The switch 5 is attached to a dashboard panel of the vehicle, for example. When the switch 5 is turned on by the occupant, a parking control setting signal is transmitted to the obstacle detection unit 6.

  The obstacle detection unit 6 is an electronic control unit (ECU) that detects information on a stationary obstacle existing around the vehicle based on the surrounding information transmitted from the surrounding recognition sensor 3. Examples of the stationary obstacle detected by the obstacle detection unit 6 include other vehicles parked around the host vehicle and a parking lot wall. The stationary obstacle information includes the position and size of the stationary obstacle. The position of the stationary obstacle can be represented by, for example, the distance from the own vehicle to the obstacle and the direction of the obstacle with respect to the own vehicle. The obstacle detection unit 6 detects the width of the boarding / alighting area in the parking area where the vehicle is parked. For this reason, the obstacle detection part 6 functions also as a boarding / alighting area detection part which detects the width | variety of the boarding / alighting area in the parking area where the vehicle is parked. The boarding / alighting area is an area necessary for a passenger to get on and off the vehicle by opening the door of the vehicle at the side or rear of the vehicle. The width of the boarding / alighting area is a distance from the vehicle to a stationary obstacle around the vehicle, and can be obtained from information on the stationary obstacle detected based on the surrounding information transmitted from the surrounding recognition sensor 3. And when the obstacle detection part 6 receives the parking control setting signal transmitted from the switch 5, this parking control setting signal, the information of the detected stationary obstacle, the information of the width of the detected boarding / alighting area, The gradient information transmitted from the gradient sensor 2 is transmitted to the parking control unit 20. Further, the obstacle detection unit 6 transmits this parking control setting signal to the battery remaining amount monitoring unit 8.

  The remote control receiver 7 is a receiving device that receives a signal wirelessly transmitted from a remote control transmitter F operated by a vehicle occupant. The remote control transmitter F has a function of transmitting an automatic parking request signal for causing the vehicle control device 1 to perform parking control and an ignition OFF request signal for performing ignition OFF after execution of automatic parking. When receiving the automatic parking request signal and the ignition OFF request signal transmitted from the remote control transmitter F, the remote control receiver 7 transmits the automatic parking request signal and the ignition OFF request signal to the battery remaining amount monitoring unit 8.

  The remaining battery level monitoring unit 8 is a control device that monitors the remaining battery level based on the remaining battery level information transmitted from the remaining battery level sensor 4. When the battery remaining amount monitoring unit 8 receives the parking control setting signal transmitted from the obstacle detecting unit 6 and receives the automatic parking request signal or the ignition OFF request signal transmitted from the remote control receiver 7 In addition, the automatic parking request signal or the ignition OFF request signal and the information on the battery remaining amount transmitted from the battery remaining amount sensor 4 are transmitted to the parking control unit 20.

  The steering control unit 12 is an electronic control unit that performs drive control of electric power steering (EPS). The electric power steering is a steering device that supports steering of a vehicle by rotationally driving a steering wheel by an electric motor. The steering control unit 12 can also rotationally drive the steering wheel according to the steering operation input to the steering wheel, but the steering wheel is rotated by the control of the parking control unit 20 without the steering operation input to the steering wheel. It can also be driven.

  The fuel injection control unit 13 is a control unit (EFI-ECU) that performs fuel injection control of an electronic fuel injection device (EFI) that injects fuel.

  The braking control unit 14 is a control unit (brake ECU) that performs drive control of a foot brake that generates a braking force using an electric motor. The braking control unit 14 can control the braking force by driving the foot brake based on the braking operation input to the brake pedal, but the control of the parking control unit 20 is not performed by the braking operation input to the brake pedal. Thus, it is possible to control the braking force by driving the foot brake. The braking operation input to the brake pedal refers to an operation in which a vehicle occupant steps on the brake pedal.

  The electric parking brake control unit 15 is a control unit (EPB-ECU) that performs drive control of an electric parking brake (EPB). The electric parking brake is a brake system that uses an electric motor to control the operation and release of the parking brake. The electric parking brake can also increase or decrease the braking force of the parking brake by driving control of the electric motor. The electric parking brake control unit 15 can perform drive control of the electric parking brake based on a braking operation input to the electric parking brake, but can perform parking without using a braking operation input to the electric parking brake. The drive control of the electric parking brake can also be performed under the control of the control unit 20. The braking operation input to the electric parking brake is an operation of a switch or the like for a vehicle occupant to operate the electric parking brake.

  The shift position transition control unit 16 is a control unit that performs shift position transition control that changes (changes) the shift position of the transmission using an electric motor, and does not depend on a shift operation input to the shift lever. Shift position transition control can be performed by 20 control.

  The parking control unit 20 is a control unit (parking control ECU) that performs parking control by automatic driving of the vehicle. The parking control unit 20 receives the parking control setting signal transmitted from the switch 5 through the obstacle detection unit 6 and transmits from the remote control transmitter R through the remote control receiver 7 and the battery remaining amount monitoring unit 8. When the received automatic parking request signal is received, parking control is started.

  FIG. 2 is a diagram for explaining parking control. As shown in FIGS. 1 and 2, parking control is control for parking a vehicle in a parking area by automatic driving. In the parking control, first, a parking area in which the vehicle A is parked and a travel route to the parking area are calculated based on the information on the stationary obstacle transmitted from the obstacle detection unit 6. In the parking control, next, the vehicle A is automatically driven by controlling the steering control unit 12, the fuel injection control unit 13, the braking control unit 14, and the shift position transition control unit 16, thereby calculating along the calculated travel route. The vehicle A is moved to the parked area. In the parking control, next, the shift position transition control unit 16 shifts the shift position of the transmission to parking, and the electric parking brake control unit 15 operates the electric parking brake.

  Further, in the parking control, when the ignition OFF signal transmitted from the remote control transmitter R via the remote control receiver 7 and the battery remaining amount monitoring unit 8 is received, the next parking control is started. That is, when the width of the getting-on / off area in the parking area where the vehicle A is parked is equal to or smaller than a predetermined threshold and the remaining battery level is equal to or smaller than the predetermined threshold, the shift position transition control unit 16 shifts the shift position (shift position) of the transmission. Is shifted from parking “P” to neutral “N”. The width of the boarding / alighting area in the parking area where the vehicle A is parked can be obtained from the information on the width of the boarding / alighting area transmitted from the obstacle detection unit 6, and the battery remaining amount is transmitted from the battery remaining amount monitoring unit 8. It can be obtained from the information on the remaining battery level. The control for shifting the shift position of the transmission to neutral “N” is performed when the electric parking brake is applied.

  Next, with reference to FIG.3 and FIG.4, the processing operation of the vehicle control apparatus 1 which concerns on this embodiment is demonstrated. FIG. 3 is a diagram illustrating a relationship among the remaining battery level, the shift position, and the parking brake force. FIG. 4 is a flowchart showing the processing operation of the vehicle control apparatus according to the first embodiment. The processing operation shown in FIG. 4 is performed by the parking control unit 20.

  As shown in FIG. 4, the vehicle control device 1 first performs automatic parking in which a vehicle is automatically driven and parked in a parking area when an automatic parking request signal is transmitted from the remote control transmitter R (step S1). ). In step S1, first, a parking area where the vehicle is parked and a travel route to the parking region are calculated, and the vehicle is moved to the calculated parking region along the travel route calculated by automatically driving the vehicle. And if a vehicle moves to a parking area, the shift position of a transmission will be changed to parking "P", and an electric parking brake will be operated.

  Next, the vehicle control device 1 inquires of the remote control transmitter R whether or not there is an ignition OFF request (step S2). The inquiry about the presence or absence of the ignition OFF request is made, for example, by transmitting a signal indicating that automatic parking has ended to the remote control transmitter R and generating a buzzer sound or the like from the remote control transmitter R.

  Next, the vehicle control device 1 determines whether or not an automatic operation by the remote control transmitter R is performed and an ignition OFF request signal is transmitted from the remote control transmitter R (step S3). In step S3, when the occupant performs the ignition OFF operation from the inside of the vehicle, it is determined that the automatic operation by the remote control transmitter R is performed and the ignition OFF request signal is not transmitted from the remote control transmitter R, and the parking control unit 20 Receives the ignition OFF request signal transmitted from the remote control transmitter R through the remote control receiver 7 and the battery remaining amount monitoring unit 8, the automatic operation by the remote control transmitter R is performed and the ignition from the remote control transmitter R is performed. It is determined that an OFF request signal has been transmitted.

  When the vehicle control device 1 determines that the automatic operation by the remote control transmitter R is performed and the ignition OFF request signal is not transmitted from the remote control transmitter R (step S3: NO), the vehicle control device 1 performs the ignition OFF. (Step S9), the parking control is terminated.

  On the other hand, when the vehicle control apparatus 1 determines that the automatic operation by the remote control transmitter R is performed and the ignition OFF request signal is transmitted from the remote control transmitter R (step S3: YES), the vehicle is parked. It is determined whether or not the width of the boarding / alighting area in the area is equal to or smaller than a predetermined threshold value, that is, whether or not a passenger can get on and off (step S4). The predetermined threshold is a distance required for the passenger to get on and off the vehicle by opening the door of the vehicle, and can be set as appropriate for each vehicle type. In step S4, the width of the boarding / alighting area transmitted from the obstacle detection unit 6 is compared with a predetermined threshold value to determine whether or not the width of the boarding / alighting area is equal to or smaller than the predetermined threshold value. And when it determines with the width | variety of the boarding / alighting area not being below a predetermined threshold value (step S4: NO), the vehicle control apparatus 1 will perform ignition OFF (step S9), and will complete | finish parking control.

  On the other hand, when it is determined that the width of the boarding / alighting area is equal to or smaller than the predetermined threshold (step S4: YES), the vehicle control device 1 performs the ignition OFF and transitions to the battery remaining amount monitoring state (step S5). The battery remaining amount monitoring state is a state in which the information on the remaining battery amount transmitted from the remaining battery amount monitoring unit 8 is monitored.

  Next, the vehicle control device 1 determines whether or not the electric parking brake is applied, that is, whether or not the electric parking brake is operated (step S6). In step S6, when the electric parking brake control unit 15 is driving and controlling the electric parking brake, it is determined that the electric parking brake is applied, and the electric parking brake control unit 15 applies the electric parking brake. When drive control is not being performed, it is determined that the electric parking brake is not applied. Then, when it is determined that the electric parking brake is not applied (step S6: NO), the vehicle control device 1 ends the parking control.

  On the other hand, when it is determined that the electric parking brake is applied (step S6: YES), the vehicle control device 1 stands by until the remaining battery level becomes equal to or less than the first threshold (step S7). The first threshold value is a remaining battery level required to shift the shift position of the transmission from parking “P” to neutral “N”. As the first threshold value, for example, the minimum battery remaining amount required to shift the shift position of the transmission from the parking “P” to the neutral “N”, that is, the shift position of the transmission is removed from the parking “P”. Therefore, it can be a limit battery remaining amount. In step S <b> 6, it is determined whether the remaining battery level is equal to or lower than the first threshold value by comparing the remaining battery level information transmitted from the remaining battery level monitoring unit 8 with the first threshold value.

  When the vehicle control apparatus 1 determines that the remaining battery level is equal to or less than the first threshold (step S7: YES), the shift position transition control unit 16 changes the shift position of the transmission from the parking "P" to the neutral " N "(step S8), and the parking control is finished (see (a) and (b) of FIG. 3).

  Thus, according to the vehicle control device 1 according to the present embodiment, when the battery is lowered due to parking in a situation where it is difficult to get on the vehicle, the shift position of the transmission is changed to the neutral “N”, so that the external control is performed. The vehicle can be easily moved by force. As a result, even when the battery is parked in a state where it is difficult to get on the vehicle, the vehicle can be easily moved to a position where the vehicle can be boarded by an external force.

[Second Embodiment]
Next, a second embodiment will be described. The second embodiment is basically the same as the first embodiment, but the contents of the parking control by the parking control unit 20 are partially different. For this reason, in the following description, the description of the matter similar to 1st Embodiment is abbreviate | omitted, and only the matter different from 1st Embodiment is demonstrated.

  As the parking control, the parking control unit 20 performs a shift by the shift position transition control unit 16 when the width of the getting on / off area in the parking area where the vehicle A is parked is equal to or less than a predetermined threshold and the remaining battery level is equal to or less than the predetermined threshold. The braking force of the electric parking brake is controlled by the electric parking brake control unit 15 to such an extent that not only the shift position of the machine is shifted to the neutral “N” but also the braking force necessary for the vehicle to maintain the parking state is obtained. Reduce. Reducing the braking force of the electric parking brake includes releasing the braking force of the electric parking brake. Release of the braking force of the electric parking brake means that the operation of the electric parking brake is stopped and the braking force of the electric parking brake is made zero.

  Next, with reference to FIG.3 and FIG.5, the processing operation of the vehicle control apparatus 1 which concerns on this embodiment is demonstrated. FIG. 5 is a flowchart showing the processing operation of the vehicle control apparatus according to the second embodiment. The processing operation shown in FIG. 5 is performed by the parking control unit 20.

  First, the vehicle control device 1 performs step S1 to step S6 and step S9 as in the first embodiment.

  When it is determined in step S6 that the electric parking brake is applied (step S6: YES), the vehicle control device 1 waits until the remaining battery level becomes equal to or less than the second threshold (step S11). The second threshold value is a remaining battery level necessary for performing drive control of the electric parking brake. The second threshold value may be, for example, the minimum battery remaining amount necessary for performing drive control of the electric parking brake, that is, the limit battery remaining amount for performing drive control of the electric parking brake. In step S11, it is determined whether the remaining battery level is equal to or lower than the second threshold value by comparing the remaining battery level information transmitted from the remaining battery level monitoring unit 8 with the second threshold value.

  When the vehicle control device 1 determines that the remaining battery level is equal to or less than the second threshold (step S11: YES), the electric parking brake control unit 15 reduces the braking force of the electric parking brake (step S11). S12). In step S12, first, the braking force (brake required for the vehicle to maintain the parking state based on the gradient information detected by the gradient sensor 2 (gradient information transmitted from the obstacle detection unit 6 to the parking control unit 20). Holding force). The braking force required for the vehicle to maintain the parking state can be calculated based on the gradient information detected by the gradient sensor 2 and the vehicle information such as the vehicle weight, the loaded weight, and the tire diameter. The relationship between the gradient information and the vehicle information and the necessary braking force may be registered in a table, and the necessary braking force may be calculated by referring to this table. In step S12, the braking force of the electric parking brake is reduced (including release) to the calculated braking force (see (a) and (c) of FIG. 3).

  Next, the vehicle control device 1 performs steps S7 to S8 (see (a) and (b) of FIG. 3), and ends the parking control, as in the first embodiment.

  Thus, according to the second embodiment, when the battery is low due to parking in a situation where it is difficult to get on, not only the shift position of the transmission is shifted to the neutral “N” but also the electric parking brake is By reducing the braking force, the vehicle can be easily moved by an external force. As a result, even when the battery is parked in a state where it is difficult to get on the vehicle, the vehicle can be easily moved to a position where the vehicle can be boarded by an external force.

[Third Embodiment]
Next, a third embodiment will be described. The third embodiment is basically the same as the first embodiment, but the contents of parking control by the parking control unit 20 are partially different. For this reason, in the following description, the description of the matter similar to 1st Embodiment is abbreviate | omitted, and only the matter different from 1st Embodiment is demonstrated.

  As the parking control, the parking control unit 20 restarts the vehicle engine when the width of the getting-on / off area in the parking area where the vehicle A is parked is equal to or less than a predetermined threshold and the remaining battery level is equal to or less than the restart limit threshold. And recharge the battery. The restart limit threshold value is a remaining battery level necessary for turning on the ignition. As the restart limit threshold value, for example, it is possible to set a minimum battery remaining amount necessary for turning on the ignition, that is, a limit battery remaining amount for turning on the ignition. And as for parking control, the parking control part 20 is the amount of charge of a battery when the amount of charge of a battery exceeds "expected battery consumption until ignition ON by a restart limit threshold value + driver" by engine restart, or the amount of charge of a battery When the battery reaches the charge limit, the ignition is turned off. The expected battery consumption until the ignition is turned on by the driver is the consumption of the battery that is consumed from when the driver turns off the ignition until the ignition is turned on again. The time from when the driver turns off the ignition until it turns on again may be a preset time or an average value of past driver actions. The charge limit amount is the maximum charge amount that can charge the battery.

  Next, the processing operation of the vehicle control device 1 according to the present embodiment will be described with reference to FIG. FIG. 6 is a flowchart showing the processing operation of the vehicle control apparatus according to the third embodiment. The processing operation illustrated in FIG. 6 is performed by the parking control unit 20.

  First, the vehicle control device 1 performs step S1 to step S5 and step S9 as in the first embodiment.

  The vehicle control device 1 performs the ignition OFF in step S5 and transitions to the battery remaining amount monitoring state, and then waits until the remaining battery amount becomes equal to or less than the third threshold value (step S21). The third threshold is a restart limit threshold. In step S21, it is determined whether the remaining battery level is equal to or lower than the third threshold value by comparing the remaining battery level information transmitted from the remaining battery level monitoring unit 8 with the third threshold value.

  When the vehicle control device 1 determines that the remaining battery level is equal to or less than the third threshold (step S21: YES), the vehicle control device 1 restarts the vehicle engine to recharge the battery (step S22). The process of step S22 is continued until the charge amount is equal to or greater than the fourth threshold value or the charge limit amount (step S23). The fourth threshold value is “restart limit threshold value + expected battery consumption amount until ignition is turned on by the driver”. In step S23, by comparing the remaining battery level information transmitted from the remaining battery level monitoring unit 8 with the fourth threshold value and the charging limit amount, whether the remaining battery level is equal to or higher than the fourth threshold value or the charging limit amount. Determine whether or not.

  And when it determines with the charge amount of a battery having become the 4th threshold value or more, or the charge limit amount or more (step S23: YES), the vehicle control apparatus 1 performs ignition OFF (step S24), and performs parking control. finish.

  The preferred embodiment of the present invention has been described above, but the present invention is not limited to the above embodiment.

DESCRIPTION OF SYMBOLS 1 ... Vehicle control apparatus, 2 ... Gradient sensor, 3 ... Periphery recognition sensor, 4 ... Battery remaining amount sensor, 5 ... Switch, 6 ... Obstacle detection part (boarding area detection part), 7 ... Remote control receiver, 8 ... Battery Remaining amount monitoring unit, 12 ... steering control unit, 13 ... fuel injection control unit, 14 ... brake control unit, 15 ... electric parking brake control unit, 16 ... shift position transition control unit, 20 ... parking control unit, A ... vehicle , F ... Remote control transmitter.

Claims (2)

A shift position transition control unit that performs shift position transition control for shifting the shift position of the transmission; and
An electric parking brake control unit for controlling driving of the electric parking brake;
A parking control unit for performing parking control to park the vehicle in a parking area by automatic driving, to shift the shift position of the transmission to parking, and to operate the electric parking brake by remote operation from the outside of the vehicle;
A boarding / alighting area detecting unit for detecting a width of a boarding / alighting area in the parking area where the vehicle is parked;
A battery level monitor for monitoring the battery level;
With
When the width of the boarding / alighting area is equal to or less than a predetermined threshold value and the remaining battery level is equal to or less than the predetermined threshold value, the parking control unit causes the shift position transition control unit to shift the shift position of the transmission to neutral.
Vehicle control device. The parking controller further reduces the braking force of the electric parking brake by the electric parking brake controller when the width of the boarding / alighting area is not more than a predetermined threshold and the remaining battery level is not more than the predetermined threshold. ,
The vehicle control device according to claim 1.

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